Work vehicle

Abstract

To provide a work vehicle, such as a rice planting machine, capable of easily performing automatic travel of a vehicle body which is not necessarily easy for conventional work vehicles.SOLUTION: A work vehicle includes: a trajectory acquisition unit for acquiring a trajectory of a traveling vehicle body when performing an outermost periphery travel, which is a work travel performed in an outermost area of a field by manual operation; an unworked area calculation unit for calculating an unworked area in the field at a time of completion of the outermost periphery travel on the basis of the trajectory; a turning path generation unit for generating, on the basis of the unworked area, a target turning path for the traveling vehicle body to perform the work travel on corners of the unworked area while turning; a positioning unit for measuring at least one of position and orientation of the traveling vehicle body; and a direction control unit for controlling a traveling direction of the traveling vehicle body. The direction control unit can execute automatic direction change control that changes the direction of the traveling vehicle body from a target straight path to a next target straight path.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a rice planter. [Background technology]

[0002] There is known a work vehicle such as a rice transplanter that has a planting device attached to the vehicle body so that it can be raised and lowered, a steering motor that drives a steering handle, and a control device that controls the straight-line movement of the vehicle body by having the steering motor drive the steering handle (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-24541 A [Patent Document 2] JP 2002-335720 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for work vehicles such as the above-mentioned conventional rice transplanters, it is not necessarily easy to make the vehicle body travel automatically.

[0005] SUMMARY OF THE PRESENT DISCLOSURE In consideration of the above-mentioned problems, the present invention has an object to provide a work vehicle capable of performing automatic travel control of the vehicle body. [Means for solving the problem]

[0006] The first aspect of the present invention is a system including: a trajectory acquisition unit that acquires a trajectory of a traveling vehicle body when performing an outermost periphery traveling, which is a work traveling performed in the outermost periphery area of ​​a field by manual operation; and an unworked area calculation unit that calculates an unworked area in the field at the time when the outermost periphery traveling is completed based on the trajectory; This work vehicle is equipped with a turning path generation unit that generates a target turning path based on the unworked area for the running body to turn while working around the corners of the unworked area, a positioning unit that measures at least the position and orientation of the running body, and a direction control unit that controls the traveling direction of the running body, wherein the direction control unit is capable of performing automatic direction change control that changes the direction of the running body from a target straight path to the next target straight path.

[0007] A second invention of the present invention is a work vehicle as described in claim 1, comprising: a storage device that stores a target route; and a control device that controls steering of the traveling vehicle body so that the traveling vehicle body travels along the target route based on the position of the traveling vehicle body identified by a positioning device and the target route stored in the storage device, wherein the target route includes a plurality of parallel main routes and one or more turning routes connecting the plurality of main routes, and when the traveling vehicle body is turning along one of the turning routes by automatic steering, the control device causes a warning device to output a warning if the position of the traveling vehicle body is away from the turning route by a reference distance or more, and the work vehicle is provided with a traveling vehicle body having a traveling gear, a steering unit capable of steer- ing the traveling gear, a receiving device that acquires position information by a satellite positioning system, an inertial measurement unit, and a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement unit, wherein the receiving device and the inertial measurement unit are arranged in the same location on the traveling body. Effect of the Invention

[0008] According to the first aspect of the present invention, it is possible to perform automatic driving of the vehicle body.

[0009] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to carry out turning control of the vehicle body. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention. [Diagram 2]Block diagram of a rice transplanter according to an embodiment of the present invention. [Diagram 3] FIG. 1 is an explanatory diagram of turning control of a rice transplanter according to an embodiment of the present invention; [Figure 4] FIG. 2 is an explanatory diagram of the turning control of the rice transplanter according to the embodiment of the present invention (part 2) [Diagram 5] FIG. 1 is an explanatory diagram of an automatic adjustment function of a robot rice transplanter according to an embodiment of the present invention; [Figure 6] FIG. 1 is an explanatory diagram of an automatic adjustment function of a robot rice transplanter according to an embodiment of the present invention; [Figure 7] FIG. 2 is an explanatory diagram of the automatic adjustment function of the robot rice transplanter according to the embodiment of the present invention; [Figure 8] FIG. 3 is an explanatory diagram of the automatic adjustment function of the robot rice transplanter according to the embodiment of the present invention. [Figure 9] FIG. 1 is an explanatory diagram of the headland process of the robot rice planter of the embodiment of the present invention; [Figure 10] FIG. 2 is an explanatory diagram of the headland process of the robot rice planter of the embodiment of the present invention. [Figure 11] FIG. 3 is an explanatory diagram of the robot rice planter headland process of the rice planter according to the embodiment of the present invention. [Figure 12] FIG. 13 is an explanatory diagram of an error display of the robot rice transplanter according to the embodiment of the present invention; [Figure 13] FIG. 1 is an explanatory diagram of a method for setting a steering angle sensor of a robot rice transplanter according to an embodiment of the present invention; [Figure 14] FIG. 1A is an explanatory diagram (part 1) of an automatic work start position setting of a robot rice transplanter of an embodiment of the present invention; FIG. 1B is an explanatory diagram (part 2) of an automatic work start position setting of a robot rice transplanter of an embodiment of the present invention; [Figure 15] FIG. 1 is an explanatory diagram of a robot rice transplanter assist function of a rice transplanter according to an embodiment of the present invention; [Figure 16] FIG. 2 is an explanatory diagram of the robot rice transplanter assist function of the rice transplanter according to the embodiment of the present invention (part 2) [Figure 17] FIG. 2 is an explanatory diagram of a rice transplanter remote controller connection status icon of the rice transplanter according to the embodiment of the present invention; [Figure 18] FIG. 2 is an explanatory diagram of a rice transplanter remote operation state display of the rice transplanter according to the embodiment of the present invention; [Figure 19] FIG. 2 is an explanatory diagram of a rice transplanter work area acquisition state display of the rice transplanter according to the embodiment of the present invention; [Figure 20] FIG. 2 is an explanatory diagram of a screen layout of the robot rice transplanter automatic travel of the rice transplanter according to the embodiment of the present invention; [Figure 21] FIG. 13 is an explanatory diagram of a rice transplanter seedling amount icon of the rice transplanter according to the embodiment of the present invention. [Figure 22] FIG. 13 is an explanatory diagram of a rice transplanter lateral feed count icon of the rice transplanter according to the embodiment of the present invention. [Figure 23] FIG. 2 is an explanatory diagram of an automatic driving icon for the rice transplanter according to the embodiment of the present invention; [Figure 24] FIG. 13 is an explanatory diagram of a rice transplanter planting depth icon of the rice transplanter according to the embodiment of the present invention. [Diagram 25] FIG. 2 is an explanatory diagram of a rice transplanter hydraulic pressure sensitivity icon of the rice transplanter according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings, an embodiment of the present invention will be described in detail.

[0012] The same applies below, but some components may not be shown in the drawings, or may be shown in a perspective or simplified manner.

[0013] First, mainly with reference to Figs. 1 and 2, the configuration and operation of the rice transplanter of the present embodiment will be specifically described.

[0014] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, and FIG. 2 is a block diagram of the rice transplanter according to an embodiment of the present invention.

[0015] The rice transplanter of this embodiment is a rice transplanter that travels along a plurality of parallel straight paths, and is an example of a work vehicle of the present invention.

[0016] While explaining the operation of the rice transplanter, a work vehicle operation control method according to an invention related to the present invention will also be explained.

[0017] The rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual or automatic steering operation of a steering device 240, levels the field using a ground leveling device 260 having a ground leveling float 261, plants seedlings in the field using a seedling planting device 230, and applies fertilizer to the field using a fertilizer application device 250.

[0018] The traveling device 220, the seedling planting device 230, the fertilizer application device 250 and the soil leveling device 260 are driven by the power of the engine 210 transmitted via a main transmission 300 and an auxiliary transmission 400, which are HSTs.

[0019] Next, the configuration and operation of the rice transplanter of the present embodiment will be described more specifically with reference mainly to FIGS.

[0020] 3 and 4 are explanatory diagrams (parts 1 and 2) of the turning control of the rice transplanter according to the embodiment of the present invention.

[0021] The controller 500 performs turning control to turn the vehicle body 100 in order to transition from a straight path to another straight path.

[0022] The following turning control is performed to ensure smooth entry into the planting path, reducing the risk of damage to the field.

[0023] The controller 500 determines whether or not turning to the adjacent straight path is possible at a predetermined timing based on the direction of the vehicle body 100 to be turned to the adjacent straight path, and if it determines that turning to the adjacent straight path is impossible, (A) the vehicle may reverse and then turn to the adjacent straight path, or (B) the vehicle may skip the adjacent straight path and turn to another straight path.

[0024] The direction of the vehicle body 100 is detected, for example, by using the position information of the GNSS. (A) The determination of a specific reverse distance for which reverse travel is performed, and (B) the specific selection of another straight path, such as the next straight path to the skipped straight path or an even more distant straight path, are also performed, for example, based on the positional relationship between the vehicle body 100 and the straight path by using the position information of the GNSS. In cases where skipping is repeated and straight paths on which travel is not performed are generated at intervals, it goes without saying that travel on those straight paths may be performed together, for example, at the end.

[0025] The predetermined timing is preferably the timing when the direction of the vehicle body 100 that is turned to the adjacent straight path becomes perpendicular to the direction of the straight path.

[0026] The predetermined timing may not be the timing when the direction of the vehicle body 100 that is turned to the adjacent straight path becomes perpendicular to the direction of the straight path. However, in such a case, accurate recognition of the distance to the entrance of the straight path in the direction of the straight path or the direction perpendicular to the direction of the straight path becomes difficult due to the deviation in the direction of the vehicle body 100, and it may be difficult to reliably perform turning control.

[0027] It is desirable for the vehicle body 100 to stop at a predetermined timing.

[0028] There may be a case where the vehicle body 100 does not stop at a predetermined timing. However, in such a case, accurate recognition of the distance to the entrance of the straight path in the direction of the straight path or in the direction perpendicular to the direction of the straight path may be difficult due to the movement of the vehicle body 100, and it may be difficult to reliably perform turning control.

[0029] A more specific explanation will be given below mainly with reference to FIGS.

[0030] The controller 500 determines whether or not turning to the adjacent straight path S1 is possible at a predetermined timing based on the direction of the vehicle body 100 that is turned to the adjacent straight path S1.

[0031] Of course, when the controller 500 determines that turning to the adjacent straight path S1 is possible, turning to the adjacent straight path S1 is performed.

[0032] (A) In the embodiment shown in FIG. 3, when the controller 500 determines that it is not possible to turn to the adjacent straight path S1, the controller 500 performs reverse movement and then turns to the adjacent straight path S1.

[0033] Typically, a system like a robotic rice transplanter is considered in which, after the turning that was started and temporarily stopped at the end of the straight-line process is resumed, when a 90-degree turn based on the straight-line process is completed, travel in the direction indicated by the arrow is again temporarily stopped, and if it is not possible to enter the next route, travel is performed in a straight line until it is possible to enter the next route, and then the turning is resumed.

[0034] (B) In the embodiment shown in FIG. 4, if the controller 500 determines that turning to the adjacent straight path S1 is not possible, the controller 500 skips the adjacent straight path S1 and turns to another straight path S2.

[0035] Typically, a system like a robotic rice transplanter can be considered in which, after the turning that was started and temporarily stopped at the end of the straight-line process is resumed, when a 90-degree turn based on the straight-line process is completed, travel in the direction indicated by the arrow is again temporarily stopped, and if entry into the next route is not possible, the next route, the Nth route, is skipped and entry is made into the (N+1)th route, after which planting travel on the Nth route and planting travel on the (N+2)th route are performed in that order.

[0036] The next path, the Nth path, is skipped. The above-mentioned turning control is preferably not performed twice in succession, because if the turning control is performed twice in succession, a path will be created in which the planting travel is performed twice.

[0037] When the controller 500 skips an adjacent straight path to turn to another straight path, and turns to the skipped straight path after traveling along the other straight path, the controller 500 determines whether or not it is possible to turn to the skipped straight path at a predetermined timing based on the direction of the vehicle body 100 that is turned to the skipped straight path, and (B1) if it is determined that turning to the skipped straight path is possible, it turns to the skipped straight path, and (B2) if it is determined that turning to the skipped straight path is impossible, it reverses and then turns to the skipped straight path.

[0038] Such a predetermined timing is preferably the timing when the direction of the vehicle body 100 that is turned along the skipped straight path becomes perpendicular to the direction of the straight path.

[0039] It is desirable for the vehicle body 100 to be stopped at such a predetermined timing.

[0040] A more specific explanation will be given below mainly with reference to FIG.

[0041] When the vehicle skips an adjacent straight path S1 to turn to another straight path S2, and turns to the skipped straight path S1 after traveling along the other straight path S2, the controller 500 determines whether or not it is possible to turn to the skipped straight path S1 at a predetermined timing based on the direction of the vehicle body 100 that is turned to the skipped straight path S1.

[0042] (B1) When the controller 500 determines that turning to the skipped straight path S1 is possible, the controller 500 performs turning to the skipped straight path S1.

[0043] Therefore, if turning along the skipped straight path is possible, turning along the skipped straight path can be performed as is.

[0044] When the running performance during turning is reduced, the field is likely to be damaged in a riding rice transplanter that turns by improving the running performance by using a differential lock or drive of the rear wheel on the inside of the turn. Even if a differential lock or drive of the rear wheel on the inside of the turn is used, if the vehicle gets stuck, it is often necessary for the operator to use his or her own judgment to get the vehicle body 100 out of the stuck state. Therefore, the robotic rice transplanter also needs advanced control during turning to deal with slipping or getting stuck.

[0045] The controller 500 judges whether the vehicle body 100 is unable to turn to the next step due to slippage or sticking, and if it judges that the vehicle body 100 is unable to turn to the next step, it performs a turning operation to the next step by skipping one step. It goes without saying that after the planting work of the next step is completed, a return turning operation to the unplanted step that occurred due to the skipping of one step is performed, and after the planting work of the unplanted step is completed, a normal turning operation with the skipping of the planted step is performed.

[0046] Since complex drive control and steering control during turning are not required, and work interruptions due to slipping or getting stuck during turning and soil damage in the field due to unreasonable turning movements are suppressed, a robotic rice transplanter that can continue planting work with simple control is realized.

[0047] (B2) When the controller 500 determines that it is not possible to turn to the skipped straight path S1, it reverses and then turns to the skipped straight path S1.

[0048] Therefore, even if it was not possible to turn to the skipped straight line, the vehicle still reversed. A turn can then be made to the straight path that was skipped.

[0049] The mode switching between the mode in which the vehicle turns to an adjacent straight path after moving backward and the mode in which the vehicle turns to another straight path by skipping the adjacent straight path, and the turning control operation may be performed by a dial setting operation on the operation panel, a liquid crystal monitor setting operation, or a remote controller setting operation. Also, the remote controller may be notified that the vehicle will skip to another straight path and turn. If it is determined that the vehicle cannot travel on the path, the remote controller may be notified that the vehicle will change to another path.

[0050] Next, the configuration and operation of the rice transplanter of this embodiment will be described more specifically with reference mainly to FIGS.

[0051] <Automatic adjustment function for robotic rice planting machine> The robot rice transplanter automatic adjustment function of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 5 which is an explanatory diagram of the robot rice transplanter automatic adjustment function of the rice transplanter according to the embodiment of the present invention.

[0052] A riding rice transplanter having a vehicle body position detection device that detects the vehicle body position based on a signal from a positioning satellite may have a turning area recording device that records a turning area in which the planting unit is raised and turning is performed when planting work is performed in the turning area recorded by the turning area recording device in which a turning trace is formed on the field scene, and an automatic adjustment device that automatically reduces the hydraulic sensitivity and reduces the rotor height when planting work is performed. Such an automatic adjustment area for improving planting performance may be created during automatic traveling, rather than being set when the planting area is obtained.

[0053] <Robot rice planter travel route deviation prevention function> The automatic adjustment function of the robot rice transplanter of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 6 to 8, which are explanatory diagrams (parts 1 to 3) of the automatic adjustment function of the robot rice transplanter of the rice transplanter of the embodiment of the present invention.

[0054] When the robotic rice planter is turning, if the wheels spin and the rice planter becomes unable to move, it can be controlled to reduce the vehicle speed and reduce the steering angle to escape. If the vehicle deviates from its travel route, it can correct its trajectory by reversing or by skipping a process, thereby enabling the rice planter to resolve the slippage that prevents it from moving even if slippage caused by wheel spin occurs during autonomous driving (see Fig. 6).

[0055] Such slippage events, in which the wheels spin and the rice transplanter becomes unable to move, are determined from GNSS position information, planting route information, front wheel pulse information, or rear wheel pulse information (see Figure 7).

[0056] When it is detected that the rice transplanter is stuck, the electric differential lock may be used, but if the slipping state cannot be resolved by the electric differential lock activation, a function may be considered to allow the vehicle to escape by reducing the vehicle speed and easing the steering angle (see Figure 8).

[0057] After such control of reducing the vehicle speed and reducing the steering angle, the elimination of the slip condition may be determined from GNSS position information, planting travel path information, front wheel pulse information, or rear wheel pulse information, etc., and the reduction in the steering angle may be stopped and turning may be resumed.

[0058] <Robot rice planting machine headland process> The robot rice transplanter headland process of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 9 to 11 which are explanatory diagrams (parts 1 to 3) of the robot rice transplanter headland process of the rice transplanter of the embodiment of the present invention.

[0059] A planting path generation system for a robotic rice transplanter is conceivable in which, in the vicinity of the field side Ea, which is the opposite side of the field to which materials are supplied, headland planting parallel to the field side Ea is finally performed by hand. This is because, for example, if planting parallel to the field side Ea is performed in the two steps of the teaching step and the subsequent inner circumference planting step of automatic operation, ventilation will be poor and diseases will be likely to occur. More specifically, a planting path generation system for the following automatic planting travel that operates to improve ventilation and make diseases less likely to occur is conceivable.

[0060] In a robotic rice transplanter that can perform teaching work while planting on the periphery of a field, a teaching process is performed so that headland planting parallel to the field side Ea is not performed (see FIG. 9).

[0061] In the automated reciprocating planting process after such a teaching process, turning is performed by utilizing the headland space near the field side Ea, and the space corresponding to a process near the field side Eb that is parallel to the planting path of the reciprocating planting process and the row alignment process, together with the headland space corresponding to a process near the field side Ea, remain in an unplanted state when the reciprocating planting process is completed (see Figure 10).

[0062] In the inner planting process following the reciprocating planting process, automatic planting is carried out in the space corresponding to one step in the vicinity of the field side Eb, but in the vicinity of the field side Ea which remains unplanted, automatic headland planting may be carried out, but preferably, headland planting is finally carried out by hand to improve ventilation without automatic headland planting (see Figure 11).

[0063] <Error message on robot rice planter> The robot rice transplanter error display of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 12 which is an explanatory diagram of the robot rice transplanter error display of the rice transplanter according to the embodiment of the present invention.

[0064] A function for the robotic rice planter that displays abnormalities in the rice planter detected by sensors, etc., can be considered, with warnings from gadgets such as LCD monitors, stacked lights, tablets, remote controllers for operating the robotic rice planter, or automatic driving monitors. Errors that occur during unmanned driving can be difficult to confirm, but abnormalities in the rice planter can be confirmed even from the ridges.

[0065] <How to set the steering angle sensor for the robot rice planter> The robot rice transplanter steering angle sensor setting method for the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 13 which is an explanatory diagram of the robot rice transplanter steering angle sensor setting method for the rice transplanter according to the embodiment of the present invention.

[0066] In order to prevent mistakes due to improper steering angle sensor setting in a robotic rice transplanter, a configuration is considered in which the steering angle sensor is set by button operation using a jog dial, etc. This is because in a configuration in which the steering angle sensor is automatically set when the key is turned on, if the key is turned on even though the steering wheel is not in a straight line, normal automatic driving is often not achieved.

[0067] Specifically, when the key of the rice transplanter is turned on or the engine is started, a pop-up display or announcement is made on an LCD monitor or the like, urging the user to make sure that the steering wheel is straight and then press the jog dial.

[0068] When the jog dial is pressed in this state, the steering angle sensor is properly set at the steering angle sensor position corresponding to the state in which the steering wheel is straight.

[0069] One possible function would be to check the status of the steering angle sensor.

[0070] Specifically, when a mode for checking the state of the steering angle sensor is selected in the mode settings of the LCD monitor, the steering motor operates so that the state of the steering wheel being straight, as recognized by the steering angle sensor, is realized. Therefore, if the steering wheel is straight after the steering motor operates, it is understood that the steering angle sensor set is properly performed.

[0071] A configuration is conceivable in which the steering angle sensor is set when the azimuth angle recognition operation is being performed.

[0072] Specifically, when the engine is on, a pop-up display or announcement is made on an LCD monitor or the like, prompting the user to operate the vehicle to move forward or backward in a straight line.

[0073] Whether the vehicle is moving forward or backward may be recognized by using the pulse value of the front wheel rotation sensor or the rear wheel rotation sensor, or may be recognized by using GNSS or RTK position information, etc.

[0074] <Setting the automatic work start position for the robot rice planter> The setting of the automatic work start position of the robot rice transplanter of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 14(a) and 14(b), which are explanatory diagrams (part 1 and part 2) of the setting of the automatic work start position of the robot rice transplanter of the rice transplanter of the embodiment of the present invention.

[0075] In the robotic rice transplanter, a function is considered that allows the selection of the automatic work start position by the LCD monitor display to freely change the teaching work start position side or teaching work completion side as the automatic work start position after the teaching work is completed with a jog dial. Since the automatic work start position is not automatically determined in the teaching work procedure but can be changed later, the work path can be changed later, it is easy to deal with teaching failures, and the work efficiency is improved.

[0076] A screen for setting the automatic operation start position is displayed on the LCD monitor, and by turning the jog dial, a function is realized that allows the user to select either the teaching operation start position side or the teaching operation completion position side as the automatic operation start position.

[0077] For example, when the jog dial is turned to the left, the automatic operation starts from the teaching operation start position side, and when the jog dial is turned to the right, the automatic operation starts from the teaching operation completion position side.

[0078] <Robot rice planter assist function> The robot rice transplanter assist function of the rice transplanter of the embodiment of the present invention will be described with reference to Figs. 15 and 16 which are explanatory diagrams (part 1 and part 2) of the robot rice transplanter assist function of the rice transplanter of the embodiment of the present invention.

[0079] A function that automatically calculates the amount of seedlings consumed in one round trip process is conceivable for the robotic rice transplanter. Since it is possible to grasp the amount of seedlings consumed in one round trip, it is possible to reduce the number of times they need to be replenished.

[0080] A function to adjust the amount of seedlings taken according to the amount of seedlings remaining before the inner circumference process is considered. Since seedlings remaining or insufficient seedlings are unlikely to occur, seedlings are used efficiently.

[0081] The amount of remaining seedlings may be entered into the monitor panel before the inner periphery step (see Figure 15).

[0082] A function that uses a lamp or buzzer to notify the user when the planting width adjustment process has started is conceivable. The so-called ridge clutch may suddenly be turned off or the machine may travel diagonally, which may give the impression that an error has occurred, but a lamp or buzzer notification can prevent the user from misunderstanding the situation and make it easier for the user to understand the status of the automatic operation.

[0083] The timing when the GNSS position information is restored after being lost may be notified by a buzzer sounding on the rice transplanter or the remote controller, or by vibration on the remote controller. This makes it easier to understand the timing when the GNSS position information is restored. In addition, the remote controller can start and stop the automatic operation of the rice transplanter, and operate it forward and backward.

[0084] A route setting function is conceivable that allows the setting of an access road that is not the edge of a ridge. Although an access road is often the edge of a ridge, the existence of an access road at the edge of a ridge is no longer a prerequisite for creating a route, which allows for flexible handling of various fields.

[0085] When the approach road is not the edge of the ridge, the position information of the approach road may be recognized at the time of entering the field from such an approach road by using, for example, a remote controller, an LCD monitor, a button on a monitor panel, or a mobile terminal. Also, if the approach road deviates by a certain distance from the route, the remote controller may be notified that the autonomous driving route is abnormal. In addition, when the steering wheel is manually operated during autonomous driving, it may be recognized that a load has been applied to the steering of the autonomous driving along the route, and a report may be made to the remote controller.

[0086] In the automatic driving mode, a round trip may be performed so that one step on the extension of the entry path and one step adjacent to it are left (see FIG. 16).

[0087] When the ridge clutch is turned on and off during automatic operation, a buzzer on the rice transplanter side may sound, or the blinking pattern of the remote controller's lamp may be changed. This makes it easier to understand the automatic operation status. In addition, an obstacle sensor that detects obstacles in the field during automatic operation may be installed on the machine, and when an obstacle is detected, the machine may stop and the remote controller may be notified that the machine has stopped.

[0088] When planting is being performed along the first process path in the teaching mode in automatic operation, the buzzer on the rice transplanter may sound, or the blinking pattern of the lamp on the remote controller may be changed. This makes it easier to understand the status of automatic operation.

[0089] An automatic driving riding mode and an automatic driving unmanned mode may be selectively implemented. For example, the shock caused by the forward / reverse shift is not necessarily small, so the risk of the user riding the vehicle is reduced and safety is improved.

[0090] Such an automatic driving on-board mode and an automatic driving unmanned mode may be selectable by operating a remote controller, an LCD monitor, or a button on the rice transplanter monitor panel.

[0091] <Robotic rice planting machine field management function> A robotic rice planter equipped with a GNSS receiver could be designed to link with the water management system of the field when rice planting is completed, and automatically add water to the field. Since the rice planter links with the water management system, water management can be performed simply by operating the rice planter, realizing labor savings.

[0092] When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a planting operation has been performed in another field area over a certain distance, a signal may be sent to the field's water management system to allow water to enter the field. The planting operation is recognized using a sensor around the planting clutch motor, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that allows water to enter the field even though the rice transplanter has not left the field, is suppressed.

[0093] When it is recognized that the rice planter has left the field area based on the most recently acquired GNSS position information, etc., and area acquisition for another field area is completed, a signal may be transmitted to the field's water management system to allow water to enter the field. For example, if the other field area for which GNSS position information has been acquired overlaps with the previous field area, water may not be allowed to enter. Operation of the water management system, such as a malfunction that allows water to enter the field even though the rice planter has not left the field, is suppressed.

[0094] When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a movement operation in another field area is performed over a certain distance with the center float on the ground, a signal may be sent to the water management system of the field to let water into the field. The movement operation with the center float on the ground is recognized using sensors around the center float, sensors around the lifting link, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that lets water into the field even though the rice transplanter has not left the field, is suppressed.

[0095] When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a movement operation in another field area is performed for a certain distance in a rotor-driven state, a signal may be sent to the water management system of the field to let water into the field. The movement operation in the rotor-driven state is recognized using sensors around the rotor case, sensors around the lift link, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that lets water into the field even though the rice transplanter has not left the field, is suppressed.

[0096] In the planting work of the robotic rice transplanter, when the robot transitions from the inner peripheral process to the final process at the edge of the field, the mode is switched from automatic to manual, and in response to such a mode switch, a signal may be sent to the water management system of the field to allow water to enter the field. Operation of the water management system, such as a malfunction that allows water to enter the field even though the rice transplanter has not left the field, is suppressed.

[0097] One possible function would be to monitor the planting status with a camera installed above the seedling tank, and display the locations of missing plants on a map. The planting status of the eight rows can be monitored with a camera installed above the seedling tank, which is expected to reduce costs.

[0098] The planting status is monitored by two cameras installed at both ends of the seedling tank, and the locations where there are missing plants can be displayed on a map. The planting status of the eight rows is monitored by two cameras installed at both ends of the seedling tank, and since inexpensive cameras with a narrow monitoring range can be used, it is expected that costs will be reduced.

[0099] Labor savings can be achieved by using drones to work in cooperation with rice transplanters to automatically perform replanting work based on the data on missing stalks created by the camera described above.

[0100] <Straight-line assist for autonomous rice planting machine> In a rice transplanter having an autonomous driving function, a specification is conceivable in which switching between a manual driving mode and an autonomous driving mode is performed by a switching means such as a switch, and the straight-line assist can be used in either mode. Although a specification is conceivable in which the straight-line assist can be effectively used only in the manual driving mode, manual operations such as teaching, ridge-drawing, and the final process of headland planting are performed even during the autonomous driving mode, so a specification in which straight-line driving can be performed by manual operation while using the straight-line assist regardless of the transition to the autonomous driving mode is highly convenient.

[0101] A part of the position information acquired during teaching of the working area may be used to set points A and B, which are reference points for the straight line assist, and straight line assist may be performed. Straight line driving along the teaching path is often ideal, but in a specification in which a reference point is acquired every time straight line driving is performed, the correlation between the reference point for the straight line assist and the teaching path cannot be obtained during straight line assist. By performing straight line assist using a part of the position information acquired during teaching, straight line driving along the automatic driving path can be easily achieved even in manual driving in an autonomous driving mode in which automatic driving is performed.

[0102] So-called travel route information may be used to set points A and B, which are reference points for straight-line assistance, and to perform straight-line assistance.

[0103] The information on the immediately preceding travel route, which is the planting route before turning, may be used as travel route information to set points A and B, which are reference points for the straight-line assist, and straight-line assist may be performed. Because the information on the immediately preceding travel route is used, transition to straight-line assist is easy, and the straight-line assist function can be turned on without obtaining or selecting a reference point.

[0104] Any two points on the generated autonomous straight-line path may be selected as the reference points for the straight-line assist. When performing manual driving while using the straight-line assist during the autonomous driving mode, a specification may be considered in which an extra driving route without planting is required as a route for setting the reference point for the straight-line assist. However, by selecting any two points on the autonomous straight-line path as the reference points for the straight-line assist, not only is it possible to smoothly switch between the manual driving mode and the autonomous driving mode, but the accuracy of the spacing between adjacent planting rows and straightness is less likely to vary due to the driving technique of the operator, and highly accurate and aesthetic manual planting that matches the planting rows of the autonomous straight-line path is realized using the straight-line assist function.

[0105] On a map displayed on a monitor that displays the generated planned driving route and the actual planting route, which is the route along which planting was actually performed, at least one of the line segments with these reference points as both ends, points A and B, which are the reference points for the straight driving assist, may be displayed superimposed. Since the relationship between the automatic driving route and the reference points for the straight driving assist can be easily understood by checking the map, planting can be performed without mistakes due to user misunderstandings, particularly when switching from the autonomous driving mode to the manual driving mode.

[0106] One side may be selected from the teaching path for autonomous driving displayed on the map of the monitor described above, and the selected side may be used as the reference line for the straight driving assist. Since such a selection operation is performed while checking the map, mistakes due to user misunderstandings are unlikely to occur. For example, in a polygonal field, it is common for the side of a polygon determined from the vertices of adjacent polygons to be used as the reference line for the straight driving assist, so that one side given by the teaching path can be selected as the reference line for the straight driving assist without the need to select points A and B, which are the reference points for the straight driving assist.

[0107] In manual operations such as planting on the headland in the final step, which is a finishing process, the reference points A and B for the straight-line assist may be automatically set when the start of the final step is recognized by using the coordinate information acquired during teaching. It is not necessarily realistic to acquire the reference points for the straight-line assist for one step in the final step and use the straight-line assist, since it is time-consuming, but since such reference points are automatically set, the accuracy of straightness is unlikely to vary due to the driving technique of the operator, and highly accurate and aesthetic manual planting can be achieved by using the straight-line assist function.

[0108] When manual operation is performed during the autonomous driving mode, whether or not the straight-line assist function is available may be notified by a display device such as a monitor or other announcement device. Even in a specification in which an extra driving route without planting is required as a route for setting the reference point for the straight-line assist, such a notification makes it possible to recognize whether or not the reference point has already been acquired, so the operator can determine for himself or herself whether or not to use the straight-line assist function, taking into account the process of acquiring points A and B.

[0109] <Rice planting machine in-place planting operation> In on-the-spot planting, also known as pita planting, in which seedlings are planted on the spot while the vehicle is stopped, one seedling is planted at a stopping point, such as the edge of a field, before the vehicle begins moving again. In order to do this, it is possible for the planting unit to be driven by an HST or motor drive independent of the driving unit, thereby preventing missed plantings at the edge of the field.

[0110] When the planting unit is grounded and the planting clutch is switched to the on state, control is required to drive the planting unit with rotation without driving the traveling unit so that only one seedling can be planted on the spot.

[0111] For example, when the planting unit is in contact with the ground and the planting clutch is in the on state, if the HST lever is tilted so that the lever position is in the forward position, the planting unit rotation without driving the traveling unit is controlled to drive the planting unit so that only one seedling is planted on the spot.

[0112] In this type of planting unit drive control, the planting unit rotates at high speed to plant only one seedling on the spot, but it is desirable to control the planting unit thereafter to rotate at a normal speed that matches the vehicle speed.

[0113] <Rice transplanter remote controller connection status icon> The rice transplanter remote controller connection status icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 17 which is an explanatory diagram of the rice transplanter remote controller connection status icon of the rice transplanter of the embodiment of the present invention.

[0114] An icon display showing the remote controller connection status is possible.

[0115] The remote controller connection status can be conveyed efficiently on a screen with a large amount of information.

[0116] <Rice planter remote control status display> The rice transplanter remote operation state display of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 18 which is an explanatory diagram of the rice transplanter remote operation state display of the rice transplanter according to the embodiment of the present invention.

[0117] In the display showing two states of remote control, (1) a state in which remote control is possible, and (2) a state in which remote control is not possible are possible.

[0118] The rice transplanter remote operation status display makes it easy to determine whether remote operation is possible or not.

[0119] <Display of rice planter work area acquisition status> The rice transplanter work area acquisition state display of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 19 which is an explanatory diagram of the rice transplanter work area acquisition state display of the rice transplanter of the embodiment of the present invention.

[0120] When displaying the acquisition state of the work area required for the automatic driving of the robotic rice transplanter, the following are possible: (State 1) work area not acquired state, (State 2) work area acquired state, and (State 3) work area acquired state with a sub-route.

[0121] The working area acquisition status can be efficiently communicated on a screen with a large amount of information.

[0122] <Screen layout of the robot rice planter automatic driving> The robot rice transplanter automatic driving screen layout of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 20 which is an explanatory diagram of the robot rice transplanter automatic driving screen layout of the rice transplanter according to the embodiment of the present invention.

[0123] The layout of the automatic driving screen for the robotic rice transplanter can have the following possible functions: (1) a function to display information necessary for planting in tabs on the left side of the screen, (2) a function to display the robot mode in the upper right side of the screen, (3) a function to display the robot mode status in the middle right side of the screen, (4) a function to display the status of the robot mode changeover switch using the robot ON icon at the bottom right of the screen, (5) a function to display the connection status of the remote controller using the remote controller icon on the right side of the screen, and (6) a function to display the acquisition status of the work area using the field check icon at the bottom right of the screen.

[0124] Since there are multiple conditions for starting autonomous driving, it is difficult to start autonomous driving unless the situation is understood.

[0125] In order to start the robot's automatic driving, four conditions must be met: (1) GNSS reception state condition, (2) robot mode switch on condition, (3) remote controller connection condition, and (4) working area acquisition condition. If these four display states are active and a display such as "Auto OK" is displayed in the status display, automatic driving is possible. By performing the operations in this order to clear the four conditions, automatic driving can be started easily.

[0126] <Rice planter seedling volume icon> The rice transplanter seedling removal amount icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 21 which is an explanatory diagram of the rice transplanter seedling removal amount icon of the rice transplanter of the embodiment of the present invention.

[0127] One possibility is to display an icon showing the amount of seedlings removed.

[0128] The amount of seedlings harvested can be communicated efficiently on a screen with a large amount of information.

[0129] <Rice planter lateral feed count icon> The rice transplanter traverse feed count icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 22 which is an explanatory diagram of the rice transplanter traverse feed count icon of the rice transplanter of the embodiment of the present invention.

[0130] An icon display showing the number of traverses may be used.

[0131] The set value of the number of traverses can be efficiently communicated on a screen with a large amount of information.

[0132] <Rice planter automatic driving icon> The rice transplanter automatic driving icon of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 23 which is an explanatory diagram of the rice transplanter automatic driving icon of the rice transplanter according to the embodiment of the present invention.

[0133] It is possible for the display to show three states regarding autonomous driving, such as (1) a state in which autonomous driving is occurring, (2) a state in which autonomous driving is possible, and (3) a state in which autonomous driving is not possible.

[0134] It is possible to easily determine whether or not automatic driving can be started.

[0135] <Rice planter planting depth icon> The rice transplanter planting depth icon of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 24 which is an explanatory diagram of the rice transplanter planting depth icon of the rice transplanter according to the embodiment of the present invention.

[0136] Icons showing planting depth are conceivable.

[0137] The planting depth setting can be communicated efficiently on a screen with a large amount of information.

[0138] <Rice planter hydraulic sensitivity icon> The rice transplanter hydraulic pressure sensitivity icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 25 which is an explanatory diagram of the rice transplanter hydraulic pressure sensitivity icon of the rice transplanter of the embodiment of the present invention.

[0139] An icon display showing hydraulic sensitivity is conceivable.

[0140] The hydraulic sensitivity setting value can be efficiently communicated on a screen with a large amount of information.

[0141] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0142] In addition, the recording medium of the invention related to the present invention is a recording medium having recorded thereon a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0143] In addition, the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the multiple steps.

[0144] In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or a part of the above-mentioned steps.

[0145] A function for checking the error history on the remote controller may be provided. Also, a switch for increasing the vehicle speed by one step during automatic driving may be provided on the grip portion of the main shift lever.

[0146] If the distance calculated based on the rear wheel rotation speed is longer than the distance calculated by the GNSS sensor, the amount of seedlings to be removed is controlled to be smaller, and if the distance calculated based on the rear wheel rotation speed is shorter than the distance calculated by the GNSS sensor, the amount of seedlings to be removed is controlled to be larger. In addition, when lowering the planting section, the hydraulic motor may be used to charge the battery. In addition, when planting on the ridge, the torque distribution of the inner wheels may be increased to improve straight-line running.

[0147] A rice transplanter that uses GNSS for positioning and travels automatically may have a vehicle information setting function, and in vehicle setting mode, may have a function of driving the same straight line in the forward and reverse directions at least once each, and if there is a difference between the left and right positions of the GNSS, registering a position shifted by 1 / 2 of the difference between the left and right positions as the center position of the vehicle.

[0148] A rice transplanter that uses GNSS for positioning and automatic driving may be provided with a vehicle information setting function, and the rear wheel clutch disengagement position may be changed to an optimal value by setting the presence or absence of auxiliary wheels.

[0149] On the displayed path screen, the lines indicating teaching may be colored dotted lines.

[0150] By installing a variable motor HST and making the motor variable, the HST can be used at a constant pressure or higher, achieving high efficiency, but compared to gear shifting, the problem of a worsening slip ratio due to leakage from inside the HST has been raised, and the greater the driving load, the worse the slip ratio becomes. A load cell installed on the axle detects the driving load, and a correction current value to return the vehicle to the original preset vehicle speed according to the load is given to the HST pump side servo solenoid, adjusting the inclination of the pump side sheath and preventing a decrease in vehicle speed (increase in slip ratio).

[0151] In addition, a torque sensor installed on the axle can detect the driving load and, depending on the load, a correction current value for returning the vehicle speed to a preset original speed can be applied to the HST pump side servo solenoid, adjusting the inclination of the pump side sheath and preventing a decrease in vehicle speed (an increase in the slip ratio).

[0152] Positioning using GNSS and storage of aircraft width The overlapping planting areas can be calculated from the GNSS positioning data and planting width, and fertilization and row cutting can be performed automatically.

[0153] When operation of a switch to rotate the spare seedling frame is detected, the remote controller screen may be forcibly changed to another screen, thereby refusing to operate the spare seedling frame using the remote controller.

[0154] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0155] Furthermore, the recording medium includes a ROM (Read Only Memory) and the like.

[0156] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0157] As described above, the configuration of the present invention may be realized in software or in hardware. [Industrial Applicability]

[0158] The work vehicle of the present invention is capable of controlling the turning of the vehicle body, and is useful for use as a work vehicle such as a rice transplanter. [Explanation of symbols]

[0159] 100 Body 210 Engine 220 Running gear 221 Front wheel 222 Rear wheel 230 Seedling planting device 240 Controls 250 Fertilizer equipment 260 Ground leveling equipment 261 Leveling float 300 Main Transmission 400 Sub-transmission device 500 Controller S1, S2 Straight line path Ea, Eb Field edge

Claims

1. a trajectory acquisition unit that acquires a trajectory of a traveling vehicle body when performing outermost periphery traveling, which is a work traveling performed in the outermost periphery area of ​​a farm field by manual operation; an unworked area calculation unit that calculates an unworked area in the field at the time when the outermost circumference travel is completed based on the trajectory; a turning path generating unit that generates a target turning path for the traveling vehicle body to turn while working around a corner of the unworked area based on the unworked area, A work vehicle comprising a positioning unit that measures at least the position and orientation of a traveling body, and a direction control unit that controls the traveling direction of the traveling body, wherein the direction control unit is capable of executing automatic direction change control that changes the direction of the traveling body from a target straight path to a next target straight path.

2. a storage device that stores a target route; and a control device that controls steering of the traveling vehicle body so that the traveling vehicle body travels along the target route based on the position of the traveling vehicle body specified by a positioning device and the target route stored in the storage device, the target route including a plurality of parallel main routes and one or more turning routes connecting the plurality of main routes, the control device causing a warning device to output a warning when the position of the traveling vehicle body deviates from the turning route by a reference distance or more when the traveling vehicle body is turning along one of the turning routes by automatic steering, 2. The work vehicle according to claim 1, comprising: a traveling vehicle body having a traveling device; a steering unit capable of steering the traveling device; a receiving device that acquires position information by a satellite positioning system; an inertial measurement unit; and a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement unit, wherein the receiving device and the inertial measurement unit are disposed in the same location on the traveling vehicle body.

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